Merge branch 'master' into Girsanov_trafo

Author: ChrisRackauckas

Project.toml

@@ -1,7 +1,7 @@
 name = "ModelingToolkit"
 uuid = "961ee093-0014-501f-94e3-6117800e7a78"
 authors = ["Chris Rackauckas <[email protected]>"]
-version = "8.14.1"
+version = "8.16.0"
 
 [deps]
 AbstractTrees = "1520ce14-60c1-5f80-bbc7-55ef81b5835c"
@@ -11,16 +11,17 @@ ConstructionBase = "187b0558-2788-49d3-abe0-74a17ed4e7c9"
 DataStructures = "864edb3b-99cc-5e75-8d2d-829cb0a9cfe8"
 DiffEqBase = "2b5f629d-d688-5b77-993f-72d75c75574e"
 DiffEqCallbacks = "459566f4-90b8-5000-8ac3-15dfb0a30def"
-DiffEqJump = "c894b116-72e5-5b58-be3c-e6d8d4ac2b12"
 DiffRules = "b552c78f-8df3-52c6-915a-8e097449b14b"
 Distributed = "8ba89e20-285c-5b6f-9357-94700520ee1b"
 Distributions = "31c24e10-a181-5473-b8eb-7969acd0382f"
 DocStringExtensions = "ffbed154-4ef7-542d-bbb7-c09d3a79fcae"
 DomainSets = "5b8099bc-c8ec-5219-889f-1d9e522a28bf"
+ForwardDiff = "f6369f11-7733-5829-9624-2563aa707210"
 Graphs = "86223c79-3864-5bf0-83f7-82e725a168b6"
 IfElse = "615f187c-cbe4-4ef1-ba3b-2fcf58d6d173"
 InteractiveUtils = "b77e0a4c-d291-57a0-90e8-8db25a27a240"
 JuliaFormatter = "98e50ef6-434e-11e9-1051-2b60c6c9e899"
+JumpProcesses = "ccbc3e58-028d-4f4c-8cd5-9ae44345cda5"
 LabelledArrays = "2ee39098-c373-598a-b85f-a56591580800"
 Latexify = "23fbe1c1-3f47-55db-b15f-69d7ec21a316"
 Libdl = "8f399da3-3557-5675-b5ff-fb832c97cbdb"
@@ -30,7 +31,6 @@ NaNMath = "77ba4419-2d1f-58cd-9bb1-8ffee604a2e3"
 NonlinearSolve = "8913a72c-1f9b-4ce2-8d82-65094dcecaec"
 RecursiveArrayTools = "731186ca-8d62-57ce-b412-fbd966d074cd"
 Reexport = "189a3867-3050-52da-a836-e630ba90ab69"
-Requires = "ae029012-a4dd-5104-9daa-d747884805df"
 RuntimeGeneratedFunctions = "7e49a35a-f44a-4d26-94aa-eba1b4ca6b47"
 SciMLBase = "0bca4576-84f4-4d90-8ffe-ffa030f20462"
 Serialization = "9e88b42a-f829-5b0c-bbe9-9e923198166b"
@@ -51,29 +51,29 @@ ConstructionBase = "1"
 DataStructures = "0.17, 0.18"
 DiffEqBase = "6.83.0"
 DiffEqCallbacks = "2.16"
-DiffEqJump = "7.0, 8"
 DiffRules = "0.1, 1.0"
 Distributions = "0.23, 0.24, 0.25"
 DocStringExtensions = "0.7, 0.8, 0.9"
 DomainSets = "0.5"
+ForwardDiff = "0.10.3"
 Graphs = "1.5.2"
 IfElse = "0.1"
 JuliaFormatter = "1"
+JumpProcesses = "9"
 LabelledArrays = "1.3"
 Latexify = "0.11, 0.12, 0.13, 0.14, 0.15"
 MacroTools = "0.5"
 NaNMath = "0.3, 1"
 NonlinearSolve = "0.3.8"
 RecursiveArrayTools = "2.3"
 Reexport = "0.2, 1"
-Requires = "1.0"
 RuntimeGeneratedFunctions = "0.4.3, 0.5"
 SciMLBase = "1.26.2"
 Setfield = "0.7, 0.8, 1"
 SpecialFunctions = "0.7, 0.8, 0.9, 0.10, 1.0, 2"
 StaticArrays = "0.10, 0.11, 0.12, 1.0"
 SymbolicUtils = "0.19"
-Symbolics = "4.5"
+Symbolics = "4.9"
 UnPack = "0.1, 1.0"
 Unitful = "1.1"
 julia = "1.6"
@@ -84,6 +84,7 @@ BenchmarkTools = "6e4b80f9-dd63-53aa-95a3-0cdb28fa8baf"
 ForwardDiff = "f6369f11-7733-5829-9624-2563aa707210"
 Ipopt = "b6b21f68-93f8-5de0-b562-5493be1d77c9"
 Ipopt_jll = "9cc047cb-c261-5740-88fc-0cf96f7bdcc7"
+ModelingToolkitStandardLibrary = "16a59e39-deab-5bd0-87e4-056b12336739"
 Optimization = "7f7a1694-90dd-40f0-9382-eb1efda571ba"
 OptimizationMOI = "fd9f6733-72f4-499f-8506-86b2bdd0dea1"
 OptimizationOptimJL = "36348300-93cb-4f02-beb5-3c3902f8871e"
@@ -98,4 +99,4 @@ Sundials = "c3572dad-4567-51f8-b174-8c6c989267f4"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [targets]
-test = ["AmplNLWriter", "BenchmarkTools", "ForwardDiff", "Ipopt", "Ipopt_jll", "Optimization", "OptimizationOptimJL", "OptimizationMOI", "OrdinaryDiffEq", "Random", "ReferenceTests", "SafeTestsets", "Statistics", "SteadyStateDiffEq", "Test", "StochasticDiffEq", "Sundials"]
+test = ["AmplNLWriter", "BenchmarkTools", "ForwardDiff", "Ipopt", "Ipopt_jll", "ModelingToolkitStandardLibrary", "Optimization", "OptimizationOptimJL", "OptimizationMOI", "OrdinaryDiffEq", "Random", "ReferenceTests", "SafeTestsets", "Statistics", "SteadyStateDiffEq", "Test", "StochasticDiffEq", "Sundials"]

docs/pages.jl

@@ -8,7 +8,6 @@ pages = [
                                          "tutorials/nonlinear.md",
                                          "tutorials/optimization.md",
                                          "tutorials/stochastic_diffeq.md",
-                                         "tutorials/nonlinear_optimal_control.md",
                                          "tutorials/parameter_identifiability.md"],
     "ModelingToolkitize Tutorials" => Any["mtkitize_tutorials/modelingtoolkitize.md",
                                           "mtkitize_tutorials/modelingtoolkitize_index_reduction.md",
@@ -25,7 +24,6 @@ pages = [
                           "systems/JumpSystem.md",
                           "systems/NonlinearSystem.md",
                           "systems/OptimizationSystem.md",
-                          "systems/ControlSystem.md",
                           "systems/PDESystem.md"],
     "comparison.md",
     "internals.md",

docs/src/basics/Variable_metadata.md

@@ -34,7 +34,7 @@ isdisturbance(u)
 ```
 
 ## Mark parameter as tunable
-Indicate that a parameter can be automatically tuned by automatic control tuning apps.
+Indicate that a parameter can be automatically tuned by parameter optimization or automatic control tuning apps.
 
 ```@example metadata
 @parameters Kp [tunable=true]

docs/src/systems/ControlSystem.md

@@ -13,14 +13,14 @@ D = Differential(t)
 
 function Mass(; name, m = 1.0, xy = [0., 0.], u = [0., 0.])
     ps = @parameters m=m
-    sts = @variables pos[1:2](t)=xy v[1:2](t)=u
+    sts = @variables pos(t)[1:2]=xy v(t)[1:2]=u
     eqs = scalarize(D.(pos) .~ v)
     ODESystem(eqs, t, [pos..., v...], ps; name)
 end
 
 function Spring(; name, k = 1e4, l = 1.)
     ps = @parameters k=k l=l
-    @variables x(t), dir[1:2](t)
+    @variables x(t), dir(t)[1:2]
     ODESystem(Equation[], t, [x, dir...], ps; name)
 end
 
@@ -63,7 +63,7 @@ For each component we use a Julia function that returns an `ODESystem`. At the t
 ```@example component
 function Mass(; name, m = 1.0, xy = [0., 0.], u = [0., 0.])
     ps = @parameters m=m
-    sts = @variables pos[1:2](t)=xy v[1:2](t)=u
+    sts = @variables pos(t)[1:2]=xy v(t)[1:2]=u
     eqs = scalarize(D.(pos) .~ v)
     ODESystem(eqs, t, [pos..., v...], ps; name)
 end
@@ -86,7 +86,7 @@ Next we build the spring component. It is characterised by the spring constant `
 ```@example component
 function Spring(; name, k = 1e4, l = 1.)
     ps = @parameters k=k l=l
-    @variables x(t), dir[1:2](t)
+    @variables x(t), dir(t)[1:2]
     ODESystem(Equation[], t, [x, dir...], ps; name)
 end
 ```

docs/src/tutorials/nonlinear_optimal_control.md

@@ -4,15 +4,15 @@ $(DocStringExtensions.README)
 module ModelingToolkit
 using DocStringExtensions
 using AbstractTrees
-using DiffEqBase, SciMLBase, Reexport
+using DiffEqBase, SciMLBase, ForwardDiff, Reexport
 using Distributed
 using StaticArrays, LinearAlgebra, SparseArrays, LabelledArrays
 using InteractiveUtils
 using Latexify, Unitful, ArrayInterfaceCore
 using MacroTools
 @reexport using UnPack
 using Setfield, ConstructionBase
-using DiffEqJump
+using JumpProcesses
 using DataStructures
 using SpecialFunctions, NaNMath
 using RuntimeGeneratedFunctions
@@ -41,6 +41,7 @@ import SymbolicUtils.Rewriters: Chain, Postwalk, Prewalk, Fixpoint
 import JuliaFormatter
 
 using Reexport
+using Symbolics: degree
 @reexport using Symbolics
 export @derivatives
 using Symbolics: _parse_vars, value, @derivatives, get_variables,
@@ -60,8 +61,6 @@ import DiffEqBase: @add_kwonly
 
 import Graphs: SimpleDiGraph, add_edge!, incidence_matrix
 
-using Requires
-
 for fun in [:toexpr]
     @eval begin
         function $fun(eq::Equation; kw...)
@@ -121,6 +120,7 @@ include("domains.jl")
 
 include("systems/abstractsystem.jl")
 include("systems/connectors.jl")
+include("systems/callbacks.jl")
 
 include("systems/diffeqs/odesystem.jl")
 include("systems/diffeqs/sdesystem.jl")
@@ -136,8 +136,6 @@ include("systems/nonlinear/modelingtoolkitize.jl")
 
 include("systems/optimization/optimizationsystem.jl")
 
-include("systems/control/controlsystem.jl")
-
 include("systems/pde/pdesystem.jl")
 
 include("systems/sparsematrixclil.jl")
@@ -172,21 +170,19 @@ export AutoModelingToolkit
 export SteadyStateProblem, SteadyStateProblemExpr
 export JumpProblem, DiscreteProblem
 export NonlinearSystem, OptimizationSystem
-export ControlSystem
 export alias_elimination, flatten
 export connect, @connector, Connection, Flow, Stream, instream
 export isinput, isoutput, getbounds, hasbounds, isdisturbance, istunable, getdist, hasdist,
        tunable_parameters, isirreducible
 export ode_order_lowering, dae_order_lowering, liouville_transform
-export runge_kutta_discretize
 export PDESystem
 export Differential, expand_derivatives, @derivatives
 export Equation, ConstrainedEquation
 export Term, Sym
 export SymScope, LocalScope, ParentScope, GlobalScope
 export independent_variables, independent_variable, states, parameters, equations, controls,
        observed, structure, full_equations
-export structural_simplify, expand_connections
+export structural_simplify, expand_connections, linearize, linear_statespace
 export DiscreteSystem, DiscreteProblem
 
 export calculate_jacobian, generate_jacobian, generate_function